/*
 * MSWander.java
 *
 * Created on 13 de febrero de 2008, 11:24 PM
 *
 * To change this template, choose Tools | Template Manager
 * and open the template in the editor.
 */

package Behaviors.Schemas.Motor;

import Behaviors.Schemas.Schema;
import Behaviors.Schemas.Vector2dSchema;
import Robot.*;
import Utils.Vector2d;
import Utils.Pose2d;
/**
 *
 * @author alejo
 */
public class MSWander extends Schema implements Vector2dSchema  {
    
    /** Creates a new instance of MSWander */
    public MSWander(String name) {
        super(name);
        
    }
    
    public Vector2d Value() {
        Vector2d vector=new Vector2d(0,0,Vector2d.MODE_MA);
        double linear=Math.random();
        double angular=Math.random();
        vector.setMag((float)linear);
        vector.setAngle((float)angular);
        
        try{
            Thread.sleep(3000);
        }catch(Exception e){
        
        }
        
           
        return vector;
    }
    
    
}
